/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "drv_mrc_HE.h"
#include "retarget.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void) {
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_ADC1_Init();
    MX_TIM2_Init();
    MX_USART1_UART_Init();
    MX_TIM4_Init();
    MX_TIM6_Init();
    /* USER CODE BEGIN 2 */
    RetargetInit(&huart1);
    drv_mrc_HE_init("MRC-HE", &MRC_HE_device);
    HAL_TIM_Base_Start_IT(&htim6);
    printf("init success!\r\n");
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
        if ((MRC_HE_device.upper_sensor.filter.filtered > 2.0 && MRC_HE_device.bottom_sensor.filter.filtered < 1.0)
            || (MRC_HE_device.key0.key_flag == 1))
        {
            MRC_HE_device.key0.key_flag = 0;
            if (MRC_HE_device.MRC.state == Engagement) {
                MRC_HE_device.MRC_unlock(&MRC_HE_device.MRC);
                led_off(&MRC_HE_device.led1);
            }
        }
        else if ((MRC_HE_device.upper_sensor.filter.filtered < 1.0 && MRC_HE_device.bottom_sensor.filter.filtered >
                   2.0) || (MRC_HE_device.key1.key_flag == 1))
            {
                MRC_HE_device.key1.key_flag = 0;
                if (MRC_HE_device.MRC.state == Disengagement) {
                    MRC_HE_device.MRC_lock(&MRC_HE_device.MRC);
                    led_on(&MRC_HE_device.led1);
            }
        }
        HE_adc_cal_filter(&MRC_HE_device);
        // printf("raw data: %.5f, filetered data: %.5f\r\n", MRC_HE_device.upper_sensor.raw_data, MRC_HE_device.upper_sensor.filter.filtered);
        printf("upper sensor:%.5f,bottom sensor:%.5f,mrc sensor:%.5f\n",
               MRC_HE_device.upper_sensor.filter.filtered,
               MRC_HE_device.bottom_sensor.filter.filtered,
               MRC_HE_device.mrc_sensor.filter.filtered);
        HAL_Delay(1);
    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                                  | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
    PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
    if (htim->Instance == TIM4) //1kHZ (1ms)
    {
        MRC_HE_device.MRC_switch(&MRC_HE_device.MRC, &htim4); // check and switch the MRC1
    } else if (htim->Instance == TIM6) {
        if (MRC_HE_device.ADC_Update_Flag == 0)MRC_HE_device.ADC_Update_Flag = 1;
        Keyscan(&MRC_HE_device.key0);
        Keyscan(&MRC_HE_device.key1);
    }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void) {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
